Peter Stone's Selected Publications

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Keeping in Touch: Maintaining Biconnected Structure by Homogeneous Robots

Mazda Ahmadi and Peter Stone. Keeping in Touch: Maintaining Biconnected Structure by Homogeneous Robots. In Proceedings of the Twenty-First National Conference on Artificial Intelligence, pp. 580–85, July 2006.
AAAI 2006.
Additional details on the distributed "biconnected check" can be found in Keeping in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots in the 2006 International Symposium on Distributed Autonomous Robotic Systems (DARS 2006).

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Abstract

For many distributed autonomous robotic systems, it is important to maintain communication connectivity among the robots. That is, each robot must be able to communicate with each other robot, perhaps through a series of other robots. Ideally, this property should be robust to the removal of any single robot from the system. In this work, we define a property of a team's communication graph that ensures this property, called biconnectivity. We present a distributed algorithm to check if a team of robots is biconnected, prove its correctness, and analyze it theoretically. We also provide distributed algorithms to add and remove robots to/from a multi-robot team while maintaining the biconnected property. These two algorithms are implemented and tested in the Player/Stage simulator.

BibTeX Entry

@InProceedings{AAAI06-mazda,
	author="Mazda Ahmadi and Peter Stone",
	title="Keeping in Touch: Maintaining Biconnected Structure by Homogeneous Robots",
        booktitle="Proceedings of the Twenty-First National Conference on Artificial Intelligence",
        month="July",year="2006",
	pages="580--85",
	abstract={
                  For many distributed autonomous robotic systems, it
                  is important to maintain communication connectivity
                  among the robots.  That is, each robot must be able
                  to communicate with each other robot, perhaps
                  through a series of other robots.  Ideally, this
                  property should be robust to the removal of any
                  single robot from the system.  In this work, we
                  define a property of a team's communication graph
                  that ensures this property, called biconnectivity.
                  We present a distributed algorithm to check if a
                  team of robots is biconnected, prove its
                  correctness, and analyze it theoretically.  We also
                  provide distributed algorithms to add and remove
                  robots to/from a multi-robot team while maintaining
                  the biconnected property.  These two algorithms are
                  implemented and tested in the Player/Stage
                  simulator.
	},
	wwwnote={<a href="http://www.aaai.org/Conferences/AAAI/aaai06.php">AAAI 2006</a>.<br>  Additional details on the distributed "biconnected check" can be found in <a href="http://www.cs.utexas.edu/~pstone/Papers/2006dars/ubiconnected.pdf"><b>Keeping in Touch: A Distributed Check for Biconnected Structure by Homogeneous Robots</b></a> in the 2006 International Symposium on Distributed Autonomous Robotic Systems (<a href="http://dars06.cs.umn.edu/">DARS 2006</a>).},
}

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